Cleaning device and cleaning robot

ABSTRACT

A cleaning device for performing cleaning work on a floor to be cleaned includes: at least one cleaning element by which a cleaning movement for cleaning the floor is performable; a drive device for driving at least the cleaning movement of the at least one cleaning element; and an actuating device by which the cleaning movement of the at least one cleaning element is actuatable. The cleaning movement includes a sweeping and/or wiping movement.

CROSS-REFERENCE TO PRIOR APPLICATIONS

This application is a U.S. National Phase application under 35 U.S.C. § 371 of International Application No. PCT/EP2021/051191, filed on Jan. 20, 2021, and claims benefit to German Patent Application No. DE 10 2020 103 880.1, filed on Feb. 14, 2020. The International Application was published in German on Aug. 19, 2021 as WO2021/160392 under PCT Article 21(2).

FIELD

The invention relates to a cleaning device for performing cleaning work on a floor to be cleaned, and to a cleaning robot.

BACKGROUND

Cleaning robots which, for cleaning a substrate, in particular a floor, perform an automated cleaning operation are known. For this purpose, such cleaning robots have a drive unit with multiple wheels such that the cleaning robot can be made to travel on the substrate. Moreover, a control unit by way of which the cleaning operation can be performed in an automated manner is normally provided. In addition, said control unit may have a sensor device which detects a surrounding area of the cleaning robot and thereby makes possible a use that is autonomous to the greatest extent. In order for foreign matter, for example dirt or dust, to be able to be picked up from the substrate, such cleaning robots commonly have a cylindrical cleaning brush. During the cleaning operation, said cleaning brush is in constant contact with the substrate and, for cleaning the substrate, performs a rotational movement so that the foreign matter can be transported into a collecting container.

However, due to the rotational movement, relatively long fibers, for example hairs and the like, can get caught and wound on in the cleaning brush. These can lead to increased susceptibility to faults of such cleaning robots and, from time to time, have to be laboriously removed from the cleaning brush.

SUMMARY

In an embodiment, the present invention provides a cleaning device for performing cleaning work on a floor to be cleaned, comprising: at least one cleaning element by which a cleaning movement for cleaning the floor is performable; a drive device configured to drive at least the cleaning movement of the at least one cleaning element; and an actuating device by which the cleaning movement of the at least one cleaning element is actuatable, wherein the cleaning movement comprises a sweeping and/or wiping movement.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be described in even greater detail below based on the exemplary figures. The invention is not limited to the exemplary embodiments. Other features and advantages of various embodiments of the present invention will become apparent by reading the following detailed description with reference to the attached drawings which illustrate the following:

FIG. 1 shows a schematic view of a cleaning robot with a cleaning device in a view from below;

FIG. 2 shows a schematic view of the cleaning device as per FIG. 1 ;

FIG. 3 shows a sectional view of a first transmission stage of a drive-transmission device of the cleaning device as per section III-III in FIG. 2 ;

FIG. 4 shows a sectional view of a second transmission stage of the drive-transmission device as per section IV-IV in FIG. 2 ;

FIG. 5 shows a sectional view of a third transmission stage of the drive-transmission device as per section V-V in FIG. 2 ;

FIG. 6 shows a sectional view of a drive-transmission stage of the drive-transmission device as per section VI-VI in FIG. 2 ;

FIG. 7 shows a sectional view of an actuating device of the drive-transmission device as per section VII-VII in FIG. 2 ;

FIG. 8 shows advantageous movement paths of the cleaning section; and

FIG. 9 shows an alternative drive device.

DETAILED DESCRIPTION

In an embodiment, the present invention provides a cleaning device which makes possible an efficient cleaning operation. In an embodiment, the present invention provides a cleaning robot by way of which such an efficient cleaning operation can be performed.

In an embodiment, the present invention provides a cleaning device for performing cleaning work on a floor to be cleaned that has at least one cleaning element by which a cleaning movement for cleaning the substrate can be performed and has a drive device which drives at least the cleaning movement of the at least one cleaning element, wherein provision is made of an actuating device by which the cleaning movement of the at least one cleaning element can be actuated, and wherein the cleaning movement comprises a sweeping and/or wiping movement.

Here, the sweeping and/or wiping movement may be at least partially in the form of a pivoting movement of the at least one cleaning element.

Here, the cleaning device is advantageously part of an automatically cleaning cleaning appliance, in particular of a cleaning robot.

By way of such a cleaning device, an optimum cleaning result can be achieved when the cleaning operation is performed. This is made possible in that the actuating device actuates a cleaning movement in which the sweeping and/or wiping movement on the substrate is at least partially performed by way of the pivoting movement of the at least one cleaning element. In this way, by way of the at least one cleaning element, a cleaning movement which simulates manual sweeping with a broom or hand-brush can be performed. This makes possible not only low susceptibility to faults but also particularly thorough cleaning of the substrate.

In particular for a use in a cleaning robot, by way of such a cleaning device, an efficient cleaning operation and thus a significant improvement in the cleaning result can be made possible.

In an advantageous refinement of the cleaning device, it may be provided that the cleaning movement that can be actuated by the actuating device is in the form of a relative movement of the at least one cleaning element with respect to the actuating device. In this way, the cleaning movement can be carried by way of an actuation movement of the at least one cleaning element, wherein the actuating device is at least partially arranged in a positionally fixed manner with respect to the at least one cleaning element.

A particularly preferred configuration of the cleaning device may provide that the cleaning movement that can be actuated by the actuating device is in the form of a cyclical cleaning movement, wherein each cycle of the cleaning movement comprises at least a positioning movement of the at least one cleaning element onto the substrate and the sweeping and/or wiping movement, which follows said positioning movement. In this way, the cleaning operation may be formed by a continuously repeating cleaning movement of the at least one cleaning element. This allows even large areas to be cleaned when the cleaning operation is performed.

The cleaning movement may also be configured in such a way that the cleaning element rests on the floor to be cleaned and does not move relative to the cleaning device for a period of time. In this case, the cleaning element is guided by a movement of the entire cleaning device over the floor to be cleaned. During this time, the cleaning element rests on the floor to be cleaned, whereby the cleaning result is improved. In a cleaning movement that follows, the cleaning element can convey dirt into the dirt container. Here, the dwelling of the cleaning element relative to the cleaning device may be part of the cyclical movement of the cleaning element.

In an advantageous configuration of the cleaning device, it may be provided that the at least one cleaning element has a pivot axle and provision is made for the pivoting movement around the pivot axle of the at least one cleaning element. Such a pivot axle allows the possibility of a simple structural configuration in which both free pivoting movement of the at least one cleaning element around the pivot axle and pivoting-angle limitation may be provided.

As an advantageous refinement of the cleaning device, it may be provided that the sweeping and/or wiping movement of the at least one cleaning element and the pivoting movement of the at least one cleaning element are provided as superimposed movement components of the cleaning movement. This superposition of the two components allows the formation of a cleaning movement which makes possible particularly efficient cleaning of the substructure.

By way of the actuating device, a guided movement path for the at least one cleaning element for performing the cleaning movement may be formed. Such a guided movement path can make it possible for the cyclical cleaning movement of the at least one cleaning element to be able to be performed according to an unchanging repeating movement pattern. This ensures that a constant cleaning result is achieved.

The actuating device may have at least one actuating-force-transmission element by way of which at least one actuating element can be driven, wherein the at least one cleaning element, for performing the cleaning movement, is operatively connected to the at least one actuating element. The at least one actuating-force-transmission element and at least one actuating element make it possible for a structurally simple actuating device for actuating the at least one cleaning element to be formed. By way of such an actuating device, the cleaning movement can be reliably actuated such that low susceptibility to faults and simple and safe use of the cleaning device is made possible.

In a preferred refinement of the cleaning device, the at least one actuating-force-transmission element may be in the form of an internally toothed gear and the at least one actuating element may be in the form of an externally toothed gear, wherein the externally toothed gear and the internally toothed gear mesh with one another. Since the at least one actuating-force-transmission element and the at least one actuating element are configured as gears, provision may be made for a direct drive transmission from the at least one actuating-force-transmission element to the at least one actuating element. Moreover, the meshing of the gears makes it possible for large drive torques to be transmitted.

The guided movement path may be formed by the at least one actuating-force-transmission element, preferably by the inner side of the internally toothed gear, and the at least one actuating element operatively connected to the cleaning element may be guided along the movement path. Here, it may be provided in particular that the externally toothed actuating element rolls along the internal toothing of the at least one actuating-force-transmission element. In this way, a guide for the at least one actuating element can be provided by the inner side or the inner contour of the internally toothed gear.

The at least one actuating-force-transmission element may have a positionally fixed rotation axle, wherein the movement path is provided radially around the positionally fixed rotation axle such that the at least one actuating element is guided along the movement path around the rotation axle of the actuating-force-transmission element. In this way, the at least one actuating-force-transmission element may be arranged in a positionally fixed manner and, for actuating the at least one actuating element, performs a rotational movement around its positionally fixed rotation axle. By contrast, the at least one actuating element performs a relative movement radially around the positionally fixed rotation axle of the at least one actuating-force-transmission element.

The at least one actuating element and the at least one cleaning element may be connected to one another by the pivot axle, wherein the pivot axle is preferably arranged centrally with respect to the at least one actuating element. In this way, a direct connection between the at least one actuating element and the at least one cleaning element can be formed by the pivot axle.

According to an alternative configuration, the actuating device may be in the form of a slotted guide control means. Here, the actuating-force-transmission element may comprise a slotted guide and a sliding block.

A slotted guide control means comprises a slotted guide with at least one slot, one web and/or one groove. The slotted guide is assigned a positively guided sliding block, wherein the movement of the slotted guide is transmitted to the sliding block. The sliding block in turn operatively connected to the cleaning element. The configuration of the slotted guide accordingly determines the movement of the sliding block and thus also of the cleaning element. Beside rotary movements, it is also possible for translational movements and a combination of rotary and translational movements to be realized. It is thus possible for the sweeping and/or wiping movement according to the invention to be realized by the slotted guide control means. In particular the pivoting movement of the cleaning device may be realized by the slotted guide control means.

Between the actuating device and the drive motor, provision may be made of a drive-transmission device, preferably a gear mechanism, for transmitting a drive force of the drive motor, wherein the drive-transmission device has at least one drive-transmission means, by way of which the at least one cleaning element undergoes acceleration during the performance of the sweeping and/or wiping movement, preferably during the performance of the pivoting movement. By way of such a drive-transmission device, the actuating device can be driven by a variable drive torque. Here, the drive-transmission means may be matched to the sweeping and/or wiping movement in such a way that the at least one cleaning element is actuated by an acceleration component. This acceleration allows the cleaning movement to resemble in a particular way a manual sweeping movement, so that an efficient cleaning operation can be achieved.

The at least one drive-transmission means may have a non-uniform transmission ratio. Here, the non-uniform transmission ratio may be matched to the cleaning movement in such a way that, during the performance of the sweeping and/or wiping movement, preferably the pivoting movement, the at least one cleaning element can be actuated by way of a decreasing transmission ratio. Such a decreasing transmission ratio makes possible the formation of a drive-transmission means by way of which, during the performance of the sweeping and/or wiping movement, the at least one cleaning element can be actuated in a simple manner by an acceleration component.

In a particularly advantageous refinement of the cleaning device, the non-uniform transmission ratio may be formed by at least one non-circular drive input element and/or at least one non-circular drive output element, so that, at least over a rotational-angle range of the at least one non-circular drive input element and/or at least one non-circular drive output element, a varying transmission ratio is formed. This configuration makes it possible to achieve a particularly simple structural configuration of a non-uniform transmission ratio. Moreover, the at least one non-circular drive input element and/or at least one non-circular drive output element make(s) it possible for the transmission ratio to be adapted exactly to the cleaning movement to be performed.

In a further advantageous configuration of the cleaning device, it may be provided that the varying transmission ratio is matched to the cleaning movement in such a way that, during the performance of the sweeping and/or wiping movement, preferably the pivoting movement, the at least one cleaning element can be actuated by way of a decreasing transmission ratio between the at least one non-circular drive input element and/or the at least one non-circular drive output element. Owing to this decreasing transmission ratio, during the performance of the sweeping and/or wiping movement, preferably during the performance of the pivoting movement, the at least one cleaning element can be actuated by an acceleration component.

The drive-transmission device may have multiple drive-transmission means, preferably three drive-transmission means, wherein each drive-transmission means has a non-uniform transmission ratio. The provision of multiple drive-transmission means with different, non-uniform transmission ratios means that a large range of different transmission ratios can be covered by the drive-transmission device. In this way, an exact adaptation of the required drive-transmission means to the cleaning movement can be provided.

According to a particularly advantageous configuration of the cleaning device, the non-uniform transmission ratios of the respective drive-transmission means are provided so as to be phase-offset with respect to one another such that, during the performance of the sweeping and/or wiping movement, preferably the pivoting movement, the at least one cleaning element can be actuated in a phase-offset manner by way of a decreasing transmission ratio such that the at least one cleaning element undergoes further acceleration by way of each of the drive-transmission means. The drive-transmission means provided phase-offset with respect to one another bring about an acceleration of the at least one cleaning element, wherein the sweeping and/or wiping movement after the positioning of the at least one cleaning element onto the substrate is firstly performed slowly and, then, by way of the transmission ratios decreasing in a phase-offset manner, is very quickly accelerated. Since the cleaning element can be pivoted around the pivot axle, it may moreover be provided that an additional acceleration of the cleaning element takes place by way of the pivoting movement. In this way, the sweeping and/or wiping movement can, in a particular way, resemble a manual sweeping movement.

The drive-transmission means may be formed by at least one non-circular drive input element and/or at least one non-circular drive output element, wherein preferably the drive input elements and drive output elements of the respective drive-transmission means are simultaneously in meshing engagement. In this way, beside a simple structural configuration of multiple non-uniform transmission ratios, it is moreover possible for a highly compact design of the drive-transmission device to be achieved.

The curves described by the cleaning section can cause a non-uniform torque in some or all the elements of the drive device. In particular at relatively high frequencies, it may therefore be advantageous to provide compensating elements which provide compensation with regard to the translational and angular momenta and energies, so that only small torques and momenta are transmitted to the cleaning device. The compensating elements may be configured to perform in the reverse direction or orientation the movements bringing about the non-uniform torque. Alternatively, energy may also be temporarily stored, for example by means of a spring.

The at least one cleaning element may have a longitudinally extending main body with a cleaning section, wherein at least the cleaning section may be in the form of a cleaning brush, cleaning broom, cleaning wiper, cleaning lip or the like. Alternatively, a cleaning brush, a cleaning broom, a cleaning wiper, a cleaning lip or the like may be arranged on the cleaning section. The elongate cleaning element can consequently form a wide cleaning area, so that even relatively large surface areas can be cleaned in a time-efficient manner by the cleaning device.

The object is moreover achieved by a cleaning robot for performing a cleaning operation on a floor to be cleaned, having a housing, having a drive unit for travel movement of the cleaning robot on the substrate, wherein the drive unit has multiple wheels which are arranged on a bottom side of the housing, and having a control unit by way of which the cleaning operation for cleaning the substrate can be controlled, wherein provision is made of at least one cleaning device according to one of the above-described embodiments, by way of which a cleaning movement for cleaning the substrate can be performed. Such a cleaning robot makes it possible to be able to perform a particularly efficient and thorough cleaning operation since the cleaning movement that can be performed by the cleaning device resembles manual sweeping with a hand-brush. This is achieved in that the cleaning movement which can be actuated by the cleaning device comprises a sweeping and/or wiping movement which is at least partially performed by way of the pivoting movement of the at least one cleaning element.

According to an advantageous refinement of the cleaning robot, provision is made of a collecting container for picking up foreign matter, which, with a pick-up section, is assigned to the cleaning device, wherein at least the pick-up section of the collecting container can be lowered onto the substrate by way of an actuating mechanism and the lowering movement of the collecting container and the sweeping and/or wiping movement of the cleaning element are matched to one another. The adaptation of the lowering movement of the pick-up section to the cyclical cleaning movement means that foreign matter can be picked up by the collecting container when the at least one cleaning element performs the sweeping and/or wiping movement. By contrast, the pick-up section of the collecting container is in a raised position in relation to the substrate when the at least one cleaning element does not perform a sweeping and/or wiping movement. In this way, it is possible for the cleaning operation to also be able to be performed when the cleaning robot performs a forward movement. The cyclical lowering of the pick-up section prevents, in the case of a forward movement of the cleaning robot, the foreign matter on the substrate from being pushed ahead of the collecting container. This effect would occur in the case of a permanently lowered pick-up section, since the latter, normally provided with a rubber lip, rests on the substrate. In this case, cleaning of the substrate during a forward movement of the cleaning robot would not be possible.

The cleaning section may consist of different elements, wherein the elements, for cleaning a surface, interact in a suitable manner. Said elements may comprise a brush, a wet-cleaning element, a suction-extraction means and/or a rubber lip for wiping off the liquid. The wet-cleaning element can also be made damp from the inside.

The invention and further advantageous embodiments and refinements thereof will be described and discussed in more detail below on the basis of the examples illustrated in the figures. The features that emerge from the description and the figures may be used individually or collectively in any combination according to the invention. In the figures, in each case schematically:

FIG. 1 shows a schematic view of a cleaning robot 10. Said cleaning robot 10 is provided for performing a cleaning operation on a substrate to be cleaned. For performing the cleaning operation, the cleaning robot 10 is provided such that it can be made to travel on the substrate and, during the travel movement, can pick up foreign matter, such as for example dirt or dust, from the substrate. In particular, such a cleaning robot 10 can perform the cleaning operation in an automated or autonomous manner, that is to say without intervention by a user.

The cleaning robot 10 has a housing 11 in which a drive unit 12 is arranged. The drive unit 12 comprises multiple wheels 13 which at least partially protrude in relation to a bottom side 14 of the housing 11. The wheels 13 are driven by one or more motors 16 such that a travel movement of the cleaning robot 10 on the substrate is made possible. The forward direction of travel of the cleaning robot 10 is indicated by an arrow F in FIG. 1 . Such a cleaning robot 10 may moreover comprise a control device (not illustrated in any more detail) that controls, in particular controls in an automated manner, the cleaning operation. For this purpose, a sensor device by way of which a surrounding area can be detected by sensor means may be provided on the housing 11. In this way, the cleaning robot 10 can perform the cleaning operation autonomously within a detectable surrounding area.

In order for the foreign matter to be picked up from the substrate during the cleaning operation, provision is made on the bottom side 14 of the cleaning robot 10 of a cleaning device 20 with cleaning element 22, which cleaning device will be discussed in more detail below, and of a collecting container 21 which is assigned to the cleaning device 20. Said collecting container 21 has a pick-up section 39 which is assigned to the cleaning device 20 for picking up the foreign matter. In order for the foreign matter to be picked up, the collecting container 21, or at least the pick-up section 39 of the collecting container 21, can be lowered onto the substrate by way of an actuating mechanism (not illustrated in any more detail).

The cleaning element 22 is illustrated merely schematically in the present figure. The extent of the cleaning element 22 is dependent on the configuration of the cleaning appliance, in this case the cleaning robot 10. Preferably, the cleaning element, as well as the pick-up opening of the collecting container, extends from one edge as far as the opposite edge, so that cleaning over the width of the cleaning robot 10 is possible.

FIG. 2 shows a schematic detail view of the cleaning device 20. The cleaning device 20 has a cleaning element 22, by way of which a cleaning movement for cleaning the substrate can be performed. For performing said cleaning movement, the cleaning element 22 is driven by a drive device 23. Between the cleaning element 22 and the drive device 23, provision is made of an actuating device 24, by way of which the cleaning element 22 can be actuated for performing the cleaning movement.

When the cleaning robot 10 is not in use or when a travel movement in which the cleaning element 22 does not perform a cleaning movement takes place, the cleaning element 22 is arranged in a raised starting position in relation to the substrate. For performing the cleaning movement, the cleaning element 22 is actuated by the actuating device 24, wherein the actuating device 24 is driven by the drive device 23. The cleaning movement is formed by a positioning movement of the cleaning element 22 from the starting position onto the substrate, a sweeping and/or wiping movement on the substrate, which follows the positioning movement, and a subsequent return movement into the starting position. Here, the individual movement segments are performed in particular immediately one after the other. An alternative further development provides that the actuating device 24 is configured in such a way that at least individual movement segments are interrupted for a period of time. Here, the movement direction of the sweeping and/or wiping movement is directed toward the collecting container 21. In this way, the foreign matter can be transported into the collecting container 21 by the cleaning element 22. In particular, said cleaning movement is performed as a cyclically repeating cleaning movement during the cleaning operation. In this way, the cleaning robot 10 can be moved along a travel path and, by way of the cyclically repeating cleaning movement of the cleaning element 22, continuously pick up foreign matter along the travel path.

The actuating device 24 has an actuating-force-transmission element 26 and an actuating element 27, wherein the actuating-force-transmission element 26 is operatively connected to the drive device 23 and the actuating element 27 is operatively connected to the cleaning element 22. FIG. 7 illustrates the actuating device 24 in a sectional view as per section VII-VII in FIG. 2 . The actuating-force-transmission element 26 is in the form of an internally toothed gear 29, and the actuating element 27 is in the form of an externally toothed gear 28. Here, the externally toothed gear 28 is guided within the internally toothed gear 29 and the gears, for transmission of drive, mesh with one another. In an alternative embodiment of the actuating device 24, it may equally be provided that the actuating-force-transmission element 26 is in the form of an externally toothed gear, and the actuating element 27 is in the form of an internally toothed gear.

By way of the actuating-force-transmission element 26, in particular by way of the inner contour of the internally toothed gear 29, a movement path 31 for the actuating element 27, in particular for the externally toothed gear 28, is formed. Said movement path 31 is illustrated in FIG. 7 . The actuating-force-transmission element 26 forms in this way a guide for the actuating element 27. The actuating-force-transmission element 26 performing a rotational movement around its rotation axle 32 and at the same time the actuating-force-transmission element 26 and the actuating element 27 meshing with one another results in the actuating element 27 performing a guided movement along said movement path 31, wherein the rotational movement of the actuating-force-transmission element 26 is driven by the drive device 23.

The cleaning element 22 is operatively connected to the actuating element 27 by a pivot axle 33 such that, by way of the movement of the actuating element 27 along the movement path 31, the cleaning movement of the cleaning element 22 is actuated. Here, due to the pivot axle 32, it is provided that, during the performance of the cleaning movement, the cleaning element 22 is oriented, under the force of gravity, substantially toward the substructure with a cleaning section 34, in particular a cleaning brush, a cleaning broom, a cleaning wiper, a cleaning lip or the like. This means that, during the movement of the actuating element 27 along the movement path 31 or during the performance of the cleaning movement, the cleaning element 22 does not perform a complete rotation of its own around the pivot axle 33.

The actuating device 24 is driven by the drive device 23. The drive device 23 has a drive motor 36 and a drive-transmission device 37. The drive-transmission device 37 provides drive transmission of a drive rotational speed, output by the drive motor 36, for driving the actuating device 24. The drive-transmission device 37 is in the form of a gear mechanism.

The drive-transmission device 37 has three drive-transmission means 41, 42, 43, wherein each drive-transmission means 41, 42, 43 is formed by a drive input element 46 and a drive output element 47. The drive input elements 46 and the drive output elements 47 are in the form of externally toothed gears. Here, it is provided that the drive input elements 46 and the drive output elements 47 of the individual drive-transmission means 41, 42, 43 are simultaneously in meshing engagement.

As a supplement to FIG. 2 , FIGS. 3 to 5 illustrate the three drive-transmission means 41, 42, 43 in a sectional view in each case. Here, FIG. 3 shows the first drive-transmission means 41 as per section III-III in FIG. 2 , FIG. 4 shows the second drive-transmission means 42 as per section IV-IV in FIG. 2 , and FIG. 5 shows the third drive-transmission means 43 as per section V-V in FIG. 2 .

The drive-transmission means 41, 42, 43 of the drive-transmission device 37 each have a non-uniform transmission ratio. The non-uniform transmission ratios arise from the fact that the drive input elements 46 and the drive output elements 47 are of non-circular form. This means that the drive input elements 46 and the drive output elements 47 have an asymmetrical cross section, as is illustrated in FIGS. 3 to 5 . The non-uniform transmission ratios consequently arise from the fact that provision is made such that there is a varying transmission ratio over the rotational angle of each drive input element 46 and/or drive output element 47.

The non-uniform transmission ratio of the drive-transmission means 41, 42, 43 is matched to the cleaning movement performed by the cleaning element 22. Here, the non-uniform transmission ratios of the drive-transmission means 41, 42, 43, that is to say the rotational angles of the drive input elements 46 and/or of the drive output elements 47, are adapted to the cleaning movement in such a way that there is provided a decreasing transmission ratio when the cleaning element 22 has been positioned onto the substrate and performs the sweeping and/or wiping movement. Due to this reduction in the transmission ratio, there is realized an increase in the drive output rotational speed of the drive output elements 47 in relation to the drive input rotational speed of the drive input elements 46, or an increase in the angular speed of the drive output elements 47, so that the cleaning element 22 is actuated with an increased drive input rotational speed via the actuating element 24.

Here, it is provided that the decreasing transmission ratios of the respective drive-transmission means 41, 42, 43 are substantially phase-offset with respect to one another. This phase offset is illustrated in FIGS. 3 to 5 . Added to this is a configuration matched to the desired sweeping and/or wiping movement and specific for each drive-transmission means 41, 42, 43, for example by way of varying engagement lines of gear pairings.

Due to the acceleration of the cleaning element 22 during the performance of the sweeping and/or wiping movement, it is moreover the case that a pivoting movement of the cleaning element 22 around the pivot axle 33 is actuated. This leads to a superposition of two movement components, in which the cleaning element 22 performs the sweeping and/or wiping movement defined by the guided movement path 31 and at the same time the pivoting movement actuated by the acceleration. For performing said pivoting movement, both pivoting-angle limitation for the cleaning element 22 and free pivoting movement may be configured.

The drive force of the drive motor 36 transmitted by the drive-transmission means 41, 42, 43 is transmitted via a fourth drive-transmission means 44 to the actuating device 24, which is illustrated in FIG. 6 in a sectional view as per section VI-VI in FIG. 2 . The fourth drive-transmission means 44 is formed by a circular or symmetrical drive input element 48 and a circular or symmetrical drive output element 49. The drive input element 48 and the drive output element 49 are each in the form of an externally toothed gear.

With the use of the cleaning device 20 in the cleaning robot 10, said cleaning device is assigned to the collecting container 21, as is illustrated in FIG. 1 . For picking up the foreign matter from the substrate, the collecting container 21 can perform the lowering movement which is actuatable by the actuating mechanism. Here, it is provided that the lowering movement of the collecting container 21 and the sweeping and/or wiping movement of the cleaning element 22 are matched to one another, so that the collecting container 21, for picking up the foreign matter, is arranged, by way of the cleaning device 20, in a position lowered onto the substrate when the cleaning element 22 performs the sweeping and/or wiping movement, and is arranged in a raised position in relation to the substrate when the at least one cleaning element 22 does not perform a sweeping and/or wiping movement. The lowering movement may also be realized cyclically, wherein the cycle of the lowering of the collecting container 21 is matched to the cyclical cleaning movement of the cleaning device 20.

Generally, the sweeping and/or wiping movement desired according to the invention can be realized by a linkage, wherein here, in particular, a linkage in the form of a Chebyshev lambda mechanism is possible. An alternative linkage is shown in FIG. 8 .

Advantageous movement paths which can be realized by one of the above-described drive devices 23 are shown in FIG. 9 .

While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments.

The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C. 

1: A cleaning device for performing cleaning work on a floor to be cleaned, comprising: at least one cleaning element by which a cleaning movement for cleaning the floor is performable; a drive device configured to drive at least the cleaning movement of the at least one cleaning element; and actuating device by which the cleaning movement of the at least one cleaning element is actuatable, wherein the cleaning movement comprises a sweeping and/or wiping movement. 2: The cleaning element of claim 1, wherein the cleaning movement actuatable by the actuating device comprises a relative movement of the at least one cleaning element with respect to the actuating device. 3: The cleaning device of claim 1, wherein the cleaning movement actuatable by the actuating device comprises a cyclical cleaning movement, and wherein each cycle of the cleaning movement comprises at least a positioning movement of the at least one cleaning element onto the floor and the sweeping and/or wiping movement, which follows the positioning movement. 4: The cleaning device of claim 1, wherein the sweeping and/or wiping movement at least partially comprises a pivoting movement of the at least one cleaning element, and wherein the at least one cleaning element has a pivot axle and the pivoting movement is realized around the pivot axle of the at least one cleaning element. 5: The cleaning device of claim 1, wherein the actuating device forms a guided movement path for the at least one cleaning element for performing the cleaning movement. 6: The cleaning device of claim 1, wherein the actuating device has at least one actuating-force-transmission element by which at least one actuating element is drivable, and wherein the at least one cleaning element, for performing the cleaning movement, is operatively connected to the at least one actuating element. 7: The cleaning device of claim 6, wherein the at least one actuating-force-transmission element comprises an internally toothed gear and the at least one actuating element comprises an externally toothed gear. 8: The cleaning device of claim 7, wherein the guided movement path is formed by the at least one actuating-force-transmission element, and wherein the at least one actuating element operatively connected to the cleaning element is guided along the movement path. 9: The cleaning device of claim 6, wherein the at least one actuating-force-transmission element has a positionally fixed rotation axle, and wherein the movement path is provided radially around the positionally fixed rotation axle such that the at least one actuating element is guided along the movement path around the rotation axle of the actuating-force-transmission element. 10: The cleaning device of claim 4, wherein the at least one actuating element and the at least one cleaning element are connected to one another by the pivot axle. 11: The cleaning device of claim 1, further comprising: between the actuating device and the drive motor, drive-transmission device configure to transmit a drive force of the drive motor, wherein the drive-transmission device has at least one drive-transmission means by which the at least one cleaning element undergoes acceleration during a performance of the sweeping and/or wiping movement. 12: The cleaning device of claim 11, wherein the at least one drive-transmission means has a non-uniform transmission ratio. 13: The cleaning device of claim 12, wherein the non-uniform transmission ratio is formed by at least one non-circular drive input element and/or at least one non-circular drive output element, so that, at least over a rotational-angle range of the at least one non-circular drive input element and/or at least one non-circular drive output element, a varying transmission ratio is formed. 14: The cleaning device of claim 11, wherein the drive-transmission device has multiple drive-transmission means, and wherein each drive-transmission means has a non-uniform transmission ratio. 15: The cleaning device of claim 14, wherein the non-uniform transmission ratios of the respective drive-transmission means are phase-offset with respect to one another such that, during performance of the sweeping and/or wiping movement, the at least one cleaning element is actuatable in a phase-offset manner by way of a decreasing transmission ratio such that the at least one cleaning element undergoes further acceleration by each of the drive-transmission means. 16: The cleaning device of claim 1, wherein the at least one cleaning element has a longitudinally extending main body with a cleaning section, and wherein at least the cleaning section comprises a cleaning brush, a cleaning broom, a cleaning wiper, or a cleaning lip, or wherein a cleaning brush, a cleaning broom, a cleaning wiper, or a cleaning lip is arrangeable on the cleaning section. 17: A cleaning robot for performing a cleaning operation on a floor, comprising: a housing; a drive unit for travel movement of the cleaning robot on the floor, the drive unit comprising multiple wheels which are arranged on a bottom side of the housing; and a control unit by way of which the cleaning operation for cleaning the floor is controllable, wherein the cleaning robot is assigned at least one cleaning device of claim 1, by way of which the cleaning movement for cleaning the floor is performable. 18: The cleaning robot of claim 17, further comprising: a collecting container configured to pick up foreign matter, which, with a pick-up section, is assigned to the cleaning device, wherein at least the pick-up section of the collecting container is lowerable onto the floor by an actuating mechanism and a lowering movement of the collecting container and the sweeping and/or wiping movement of the cleaning element are matched to one another. 19: The cleaning device of claim 8, wherein the guided movement path is formed by the inner side of the internally toothed gear. 20: The cleaning device of claim 10, wherein the pivot axle is arranged centrally with respect to the at least one actuating element. 